/*
 *  Copyright (C) 2012 Austin Robot Technology, Jack O'Quin
 *  Copyright (C) 2016 Robosense, Tony Zhang
 *  License: Modified BSD Software License Agreement
 *
 *  $Id$
 */

/** \file

    This ROS node converts raw RSLIDAR LIDAR packets to PointCloud2.

*/
#include "convert.h"

/** Main node entry point. */
int main(int argc, char **argv) {
    ros::init(argc, argv, "cloud_node");
    ros::NodeHandle node;
    ros::NodeHandle priv_nh("~");

    // create conversion class, which subscribes to raw data
    rslidar_pointcloud::Convert conv(node, priv_nh);

    // handle callbacks until shut down
    ros::spin();

    return 0;
}
